Automatic alloy rod head assembling device

Abstract

The invention discloses an automatic alloy rod head assembling device which comprises a base, a support is connected to the base, and a first conveying mechanism and a second conveying mechanism which move relatively are arranged on the portions, located on the two sides of the support, of the base. A movable grabbing mechanism is arranged at the position, located above the first conveying mechanism, of the base. A multi-axis linkage mechanism is installed on the support, and a clamping and screwing mechanism is installed at the output end of the multi-axis linkage mechanism. A positioning mechanism is arranged on the base and located below the clamping and screwing mechanism, the positioning mechanism comprises a positioning block, a clamping device installed on the positioning block and a rotating mechanism driving the positioning block to rotate, a positioning groove is formed in the top face of the positioning block, and a through positioning hole is formed in the center of the positioning groove. The head part is grabbed through the grabbing mechanism, the rod part is grabbed through the clamping and screwing mechanism, the rod part and the head part are in butt joint, automatic connection of the head part and the rod part is completed, batch operation can be achieved, and the installation efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of assembly tooling technology, specifically to an automatic assembly device for alloy rod heads. Background Technology

[0002] like Figure 13 The diagram shows a schematic of an alloy rod head 12, which holds a rod portion 122 and a spherical head 121. The head 121 is spherical and has a connecting tube. A mounting hole is provided on the head 121, and one end of the rod portion 122 is threaded into the connecting tube. This type of rod head can be used as a connecting rod, wherein the mounting hole on the head can be pivotally connected to an external workpiece.

[0003] The following problems exist when assembling this type of rod head: (1) It mainly relies on manual operation. Workers manually place the head into the positioning device one by one. After each steel ball is placed, the rod is manually installed on the head. The production efficiency is low, the labor intensity is high, and it is difficult to meet the needs of mass production. (2) If the head is transported by an automatic conveying device, since the head is spherical, it is easy to deflect or tilt during the transport process. As a result, after the gripping device grabs the head, it is difficult to straighten it, making it difficult to align the connection between the rod and the head. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides an automatic assembly device for alloy club heads, which can automate the installation of the club and the head, thereby improving assembly efficiency.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution: An automatic assembly device for alloy rod heads includes a base with a vertical support connected to it. A first conveying mechanism and a second conveying mechanism, which move relative to each other, are located on opposite sides of the support on the base, and both conveying mechanisms are distributed along the Y-axis. The first conveying mechanism is used to convey the rod head, and the second conveying mechanism is used to convey the rod portion.

[0006] The first conveying mechanism is located on one side of the positioning mechanism and is aligned with the positioning block. A movable gripping mechanism is provided on the base above the first conveying mechanism. The gripping mechanism grips the head on the first conveying mechanism and inserts it into the positioning hole of the positioning groove.

[0007] The bracket is equipped with a multi-axis linkage mechanism, and a clamping and turning mechanism is installed at the output end of the multi-axis linkage mechanism. The multi-axis linkage mechanism can drive the clamping and turning mechanism to move in the X and Z axes. The second conveying mechanism delivers the rod to the plane of the central axis of the clamping and turning mechanism so that the clamping and turning mechanism can grasp the rod. When the clamping and turning mechanism moves in the X-axis direction, it can grasp the rod on the second conveying mechanism and position the rod above the positioning mechanism. When moving in the Y-axis direction, the rod can be moved downwards and inserted into the head of the positioning mechanism.

[0008] The base is provided with a positioning mechanism for clamping the head below the clamping and twisting mechanism. The positioning mechanism includes a positioning block, a clamping device mounted on the positioning block, and a rotating mechanism for driving the positioning block to rotate. The top surface of the positioning block is provided with a positioning groove, and the spherical surface of the head is clamped in the positioning groove by the clamping device. The center of the positioning groove is provided with a through positioning hole for positioning the connecting tube of the head. The central axis of the positioning hole is on the same plane as the central axis of the positioning block and the clamping and twisting mechanism in the X-axis direction, so that the clamping and twisting mechanism can accurately deliver the gripped rod to the top of the head.

[0009] Preferably, the top of the bracket has a square first opening.

[0010] The multi-axis linkage mechanism includes a top plate, a bottom plate, guide rods, a housing, a first cylinder, a second cylinder, an adapter, and a connecting frame. Two first guide rails are provided on the bottom surface of the upper part of the support, located on the front and rear sides of the first opening, respectively. A first slider is connected to the top surface of the top plate, and the top surface of the first slider has a first sliding groove, through which it is slidably connected to the first guide rail. Four guide rods are fixed to the four corners of the bottom plate, and guide holes are provided at the four corners of the top plate. The guide rods are slidably disposed within the corresponding guide holes, and the upper ends of the four guide rods are connected to the connecting frame. The guide rods improve the stability of the bottom plate's lifting and lowering. The first cylinder is installed at the rear of the top surface of the support, and its telescopic end is connected to the adapter. A square second opening is provided at the rear of the support. The adapter extends downwards and forwards and enters through the second opening, with its entry end connected to the top plate. The operation of the first cylinder drives the top plate to move in the X-axis direction. The housing is mounted on the base plate, and the second cylinder is mounted on the top plate, with the telescopic end of the second cylinder connected to the housing; both the second cylinder and the guide rod are located within the first opening. The operation of the second cylinder enables the base plate to move up and down within the first opening.

[0011] Preferably, the first conveying mechanism includes a first conveying frame, a first belt conveyor, a first partition, a first elastic belt, a first magnetic sheet, and a first sensor.

[0012] The first belt conveyor is installed inside the first conveyor frame. Several first partitions are fixed at equal intervals on the conveyor belt of the first belt conveyor. The first elastic belt is fixed on the adjacent first partitions, and the first elastic belt maintains a gap with the conveyor belt of the first belt conveyor. A first through hole is opened in the center of the first elastic belt. Several first magnetic pieces are fixed on the conveyor belt of the first belt conveyor. The first magnetic pieces correspond one-to-one with the first through holes, and the first magnetic pieces are aligned with the corresponding first through holes. A first sensor is provided on the side of the first conveyor frame facing the positioning mechanism for sensing the head.

[0013] Insert the connecting tube of the head into the first through hole, so that the lower end of the connecting tube contacts the first magnetic plate, thereby inverting the head onto the first belt conveyor. At this time, the upper part of the head is exposed above the first partition, and then the head is conveyed towards the positioning mechanism by the first belt conveyor.

[0014] When the first sensor detects the head, the first belt conveyor stops working, so that the head accurately reaches the grasping position so that the grasping mechanism can accurately grasp it.

[0015] Preferably, the rear of the base is provided with a downwardly extending mounting groove, and the second conveying mechanism is installed in the mounting groove. The second conveying mechanism includes a second conveying frame, a second belt conveyor, a second partition, a second elastic belt, a second magnetic sheet, and a second sensor. The second belt conveyor is installed in the second conveying frame. There are several second partitions, which are fixed at equal intervals on the conveyor belt of the second belt conveyor. The second elastic belt is fixed on adjacent second partitions, and there is a gap between the second elastic belt and the conveyor belt of the second belt conveyor. A second through hole is opened in the center of the second elastic belt. Several second magnetic sheets are fixed on the conveyor belt of the second belt conveyor. The second magnetic sheets correspond one-to-one with the second through holes, and the second magnetic sheets are aligned with the corresponding second through holes. A second sensor is provided on the side of the second conveying frame facing the positioning mechanism for sensing the rod. The central axis of the second sensor is aligned with the central axis of the positioning block.

[0016] Insert the lower end (threaded connection end) of the rod into the second through hole so that the lower end of the rod contacts the second magnetic plate, thereby placing the rod on the second belt conveyor. At this time, the upper part of the rod is exposed above the second partition plate, and then the rod is conveyed towards the positioning mechanism by the second belt conveyor.

[0017] When the second sensor detects the rod, the second belt conveyor stops working, so that the rod accurately reaches the gripping position so that the clamping and twisting mechanism can accurately grip it.

[0018] Preferably, the clamping and screwing mechanism includes a rotating column rotatably connected to the housing, a first motor disposed in the housing, a first gear connected to the motor shaft of the first motor, and a second gear connected to the rotating column. The first gear and the second gear mesh. The rotating column is rotatably connected to the base plate through a bearing, and the lower end of the rotating column extends through the base plate and is connected to a first pneumatic gripper. The central axis of the first pneumatic gripper is on the same vertical plane as the axis of the positioning block.

[0019] The first pneumatic gripper is a three-jaw chuck. After the first pneumatic gripper grabs the rod, it is then connected to the connecting tube on the head. By controlling the first motor to work, the first gear and the second gear work together to drive the rotating column to rotate, thereby driving the first pneumatic gripper and the rod on it to rotate, thus screwing the rod onto the head.

[0020] Preferably, the clamping device includes third cylinders mounted on both sides of the positioning block and clamping blocks connected to the opposite ends of the two third cylinders. The two clamping blocks are arranged opposite each other in the positioning groove, and the opposite surfaces are provided with V-shaped grooves. When the connecting tube of the head is inserted into the positioning hole, the two third cylinders are controlled to work simultaneously, so that the spherical surface of the head can be clamped by the clamping blocks to keep the head stable.

[0021] Preferably, the rotating mechanism includes a connecting seat mounted on the base and opposite one side of the bracket, rotating shafts fixedly connected to both sides of the positioning block, a second motor connected to one side of the bracket, a third gear connected to the motor shaft of the second motor, and a fourth gear connected to one of the rotating shafts. The third gear and the fourth gear mesh, and the two rotating shafts are rotatably connected to the connecting seat and its opposite bracket, respectively. The distance between the positioning block and the base is greater than the length of the positioning block. After inserting the connecting tube of the head into the positioning hole and clamping the head with the clamping device, the second motor is controlled to work. Through the cooperation of the third and fourth gears, the rotating shaft is driven to rotate, thereby causing the positioning block to rotate 180 degrees so that the connecting tube faces upwards for docking with the rod.

[0022] Preferably, the gripping mechanism includes a second guide rail, a fourth cylinder, a second slider, a support rod, an extension plate, a fifth cylinder, and a second pneumatic gripper. The second guide rail is mounted on the base and located on one side of the first conveyor frame. The bottom surface of the second slider has a second groove, and it is slidably connected to the second guide rail through the second groove. The support rod is connected to the second slider. The extension plate is connected to the top of the support rod and extends towards the positioning block. The fifth cylinder is mounted on the top surface of the extension plate. The second pneumatic gripper is connected to the telescopic end of the fifth cylinder and is located directly above the first belt conveyor. The second pneumatic gripper is also a three-jaw chuck. The gripping mechanism also includes a baffle connected to the second guide rail and near the positioning block. A third sensor is provided on the side of the baffle facing the second slider for detecting the distance between the second slider and the baffle.

[0023] The retraction of the fourth cylinder causes the second slider to move away from the positioning mechanism on the second guide rail. A third sensor detects the distance between the second slider and the third cylinder. When the distance reaches a set value, the second pneumatic gripper reaches the first position sensor. Then, the fifth cylinder extends, allowing the second pneumatic gripper to grasp the head. Next, the fourth cylinder extends, causing the second slider to move towards the positioning mechanism. The third sensor detects the distance between the second slider and the third cylinder. When the distance reaches a set value, the second pneumatic gripper is positioned directly above the positioning mechanism. At this point, the fifth cylinder extends, allowing the connecting tube on the head to be inserted into the positioning hole of the positioning block.

[0024] Preferably, the base is further provided with a support mechanism, which includes a sixth cylinder installed on the base and located on the rear side of the bracket, and a support seat connected to the telescopic end of the sixth cylinder. The support seat is L-shaped, with one end located on the side below the positioning block. The extension of the sixth cylinder can drive the support seat to reach below the positioning block.

[0025] After the positioning block flips over, the connecting pipe of the head faces upward, and then the sixth cylinder is controlled to extend, so that the support seat reaches below the positioning block, thereby supporting the positioning block and preventing the positioning block from rotating when installing the rod and the head.

[0026] Preferably, a control cabinet is provided on one side of the base, and a PLC controller is provided inside the control cabinet. An interactive display screen is installed on the control cabinet, and a control system is written into the PLC controller. The display screen, the first conveying mechanism, the second conveying mechanism, the multi-axis linkage mechanism, the clamping and twisting mechanism, the positioning mechanism, the gripping mechanism, and the support mechanism are all electrically connected to the PLC controller.

[0027] Compared with the prior art, the beneficial effects of the present invention are: (1) The head is conveyed by the first conveying mechanism and the rod is conveyed by the second conveying mechanism. The head is gripped by the gripping mechanism and the connecting tube on the head is inserted into the positioning hole of the positioning slot. The positioning block is rotated 180 degrees by the rotating mechanism so that the connecting tube faces upward. The rod is gripped by the clamping and twisting mechanism and placed above the connecting tube. Then the rod is rotated so that it aligns with the head, completing the automatic assembly of the head and the rod. This enables batch operation and improves the assembly efficiency.

[0028] (2) When the first conveying mechanism conveys the head, the first through hole, the first elastic band, and the first magnetic sheet work together to keep the head vertically inverted so that the gripping mechanism can grasp it. After the connecting tube of the head is inserted into the positioning hole of the positioning block, the positioning block is rotated 180 degrees by the rotating mechanism to keep the head vertically upright, that is, with the connecting tube facing upwards, so that the rod can be accurately connected to the connecting tube. During the entire conveying process, the head will not deflect or tilt, which improves the efficiency and quality of aligning the head and the rod. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the present invention; Figure 2 This is a schematic diagram of the first conveying mechanism; Figure 3 This is a partial schematic diagram of the first conveying mechanism; Figure 4 This is a schematic diagram of the second conveying mechanism; Figure 5 This is a partial schematic diagram of the second conveying mechanism; Figure 6 This is a schematic diagram of the clamping and tightening mechanism; Figure 7 A schematic diagram of the grasping mechanism; Figure 8 This is a schematic diagram of the first pneumatic gripper; Figure 9 This is a schematic diagram of the positioning block; Figure 10 This is a schematic diagram of the positioning block after it has been flipped 180 degrees. Figure 11 This is a schematic diagram of a multi-axis linkage mechanism; Figure 12 This is a rear view of the bracket and the multi-axis linkage mechanism. Figure 13 This is a schematic diagram of the clubhead; In the diagram: 1-base, 2-support, 201-first opening, 202-second opening; 3-First conveying mechanism, 301-First conveying frame, 302-First belt conveyor, 303-First partition, 304-First elastic belt, 305-First magnetic sheet, 306-First sensor, 307-First through hole; 4-Second conveying mechanism, 401-Second conveying frame, 402-Second belt conveyor, 403-Second partition, 404-Second elastic belt, 405-Second magnetic sheet, 406-Second sensor, 407-Second through hole; 5-Multi-axis linkage mechanism, 501-Top plate, 502-Bottom plate, 503-Guide rod, 504-Box body, 505-First cylinder, 506-Second cylinder, 507-Adapter, 508-Connecting frame, 509-First slider; 6-Clamping and screwing mechanism, 601-Rotating column, 602-First motor, 603-First gear, 604-Second gear, 605-First pneumatic gripper; 7-Positioning mechanism, 701-Positioning block, 702-Positioning hole, 703-Third cylinder, 704-Clamping block, 705-Connecting seat, 706-Rotating shaft, 707-Second motor, 708-Third gear, 709-Fourth gear; 8-Gripping mechanism, 801-Second guide rail, 802-Fourth cylinder, 803-Second slider, 804-Support rod, 805-Extension plate, 806-Fifth cylinder, 807-Second pneumatic gripper, 808-Baffle; 9-Support mechanism, 901-Sixth cylinder, 902-Support base; 10-Control cabinet, 11-Display screen.

[0030] 12 - clubhead, 121 - head, 122 - club section. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] Please see Figures 1-12 An automatic assembly device for alloy rod heads includes a base 1 with a vertical support 2 connected to the base 1. A first conveying mechanism 3 and a second conveying mechanism 4, which move relative to each other, are located on opposite sides of the support on the base 1. The first conveying mechanism 3 conveys the head 121, and the second conveying mechanism 4 conveys the rod portion 122. Simultaneously, the head and rod portion are conveyed towards a positioning mechanism 7.

[0033] like Figure 2 , Figure 3As shown, the first conveying mechanism 3 includes a first conveyor frame 301, a first belt conveyor 302, a first partition 303, a first elastic belt 304, a first magnetic sheet 305, and a first sensor 306. The first belt conveyor 302 is installed inside the first conveyor frame 301. Several first partitions 303 are equidistantly fixed to the conveyor belt of the first belt conveyor 302. The first elastic belt 304 is fixed to adjacent first partitions 303, and a gap is maintained between the first elastic belt 304 and the conveyor belt of the first belt conveyor 302. The first elastic belt 304 has contractile and extensible properties, and can bend with the conveyor belt of the first belt conveyor. A first through hole 307 is provided at the center of the first elastic belt 304 for inserting a connecting pipe on the connector portion. A plurality of first magnetic pieces 305 are fixed on the conveyor belt of the first belt conveyor 302. Each first magnetic piece 305 corresponds to a first through hole 307, and the first magnetic pieces 305 are aligned with the corresponding first through holes 307. The first magnetic pieces 305 attract the connecting pipe, thereby keeping the connecting pipe stable. A first sensor 306 is provided on the side of the first conveyor frame 301 facing the positioning mechanism 7 for sensing the head.

[0034] The working principle of the first conveying mechanism 3 is as follows: Several heads 121 are prepared, and the connecting tubes of each head 121 are inserted into the first through hole 307 one by one, so that the lower end of the connecting tube contacts the first magnetic plate 305. Through the combined action of the first elastic belt 304 and the first magnetic plate 305, the head 121 is kept stable and prevented from tipping over, thus placing the head 121 upside down on the first belt conveyor 302. At this time, the upper part of the head 121 is exposed above the first partition 303, and then the head is conveyed towards the positioning mechanism 7 by the first belt conveyor 302. When the first sensor 306 detects the head, the first belt conveyor 302 stops working, so that the head 121 accurately reaches the grasping position, allowing the grasping mechanism 8 to accurately grasp it.

[0035] It should be noted that the first belt conveyor 302 is installed inside the first conveyor frame 301. The distance between the bottom surface of the conveyor belt of the first belt conveyor 302 and the first conveyor frame 301 is greater than the height of the first partition 303, so that the first partition 303 can move in a circular motion with the conveyor belt.

[0036] like Figure 4 , Figure 5As shown, the base 1 has a downwardly extending mounting groove at its rear, and the second conveying mechanism 4 is installed in the mounting groove. The second conveying mechanism 4 includes a second conveyor frame 401, a second belt conveyor 402, a second partition 403, a second elastic belt 404, a second magnetic sheet 405, and a second sensor 406. The second belt conveyor 402 is installed inside the second conveyor frame 401. There are several second partitions 403, which are fixed at equal intervals on the conveyor belt of the second belt conveyor 402. The second elastic belt 404 is fixed on adjacent second partitions 403, and the second elastic belt 404 maintains a gap with the conveyor belt of the second belt conveyor 402. The second elastic belt 404 has contraction and extension properties and can bend with the conveyor belt of the second belt conveyor. The second elastic band 404 has a second through hole 407 at its center. Several second magnetic pieces 405 are fixed on the conveyor belt of the second belt conveyor 402. The second magnetic pieces 405 correspond one-to-one with the second through holes 407 and are aligned with the corresponding second through holes 407. A second sensor 406 is provided on the side of the second conveyor frame 401 facing the positioning mechanism 7 for sensing the rod. The central axis of the second sensor 406 is aligned with the central axis of the positioning block 701.

[0037] The working principle of the second belt conveyor is as follows: Prepare several rods 122, and insert the lower end (threaded connection end) of each rod 122 into the second through hole 407 one by one, so that the lower end of the rod 122 contacts the second magnetic plate 405. Through the combined action of the second elastic band 404 and the second magnetic plate 405, the rod 122 is kept stable and prevented from tipping over, thus placing the rod 122 on the second belt conveyor 402. At this time, the upper part of the rod 122 is exposed above the second partition 403, and then the rod is conveyed towards the positioning mechanism 7 by the second belt conveyor 402. When the second sensor 406 senses the rod, the second belt conveyor 402 stops working, so that the rod accurately reaches the grasping position so that the clamping and twisting mechanism 6 can accurately grasp it.

[0038] It should be noted that the second belt conveyor 402 is installed inside the second conveyor frame 401. The distance between the bottom surface of the conveyor belt of the second belt conveyor 402 and the second conveyor frame 401 is greater than the height of the second partition 403, so that the second partition 403 can circulate with the conveyor belt.

[0039] A multi-axis linkage mechanism 5 is installed on the bracket 2. A clamping and twisting mechanism 6 is installed at the output end of the multi-axis linkage mechanism 5. The clamping and twisting mechanism 6 is driven to move in the X-axis and Z-axis directions by the multi-axis linkage mechanism 5. The clamping and twisting mechanism 6 grips and twists the rod part.

[0040] like Figure 11 , Figure 12As shown, the top of the bracket 2 has a square first opening 201. The multi-axis linkage mechanism 5 includes a top plate 501, a bottom plate 502, a guide rod 503, a housing 504, a first cylinder 505, a second cylinder 506, a connector 507, and a connecting frame 508; The upper bottom surface of the bracket 2 is provided with two first guide rails, which are located on the front and rear sides of the first opening 201, respectively. The top surface of the top plate 501 is connected to a first slider 509, and the top surface of the first slider 509 is provided with a first sliding groove, which is slidably connected to the first guide rail. There are four guide rods 503, which are fixed to the four corners of the bottom plate 502. The four corners of the top plate 501 are provided with guide holes, and the guide rods 503 are slidably set in the corresponding guide holes. The upper ends of the four guide rods 503 are connected to the connecting frame 508. The setting of the guide rods 503 can improve the stability of the lifting of the bottom plate 502. The first cylinder 505 is installed at the rear of the top surface of the bracket 2, and the telescopic end of the first cylinder 505 is connected to the adapter 507. The rear of the bracket 2 is provided with a square second opening 202. The adapter 507 extends downward and forward and enters through the second opening 202, and the entry end is connected to the top plate 501. The operation of the first cylinder 505 drives the top plate 501 to move in the X-axis direction. The housing 54 is mounted on the bottom plate 502, and the second cylinder 506 is mounted on the top plate 501, with its extension / retraction end connected to the housing 504. Both the second cylinder 506 and the guide rod 503 are located within the first opening 201. The operation of the second cylinder 506 drives the bottom plate 502 to move up and down within the first opening 201.

[0041] like Figure 6 , Figure 8 As shown, the clamping and twisting mechanism 6 includes a rotating column 601 rotatably connected to the housing 504, a first motor 602 disposed in the housing, a first gear 603 connected to the motor shaft of the first motor, and a second gear 604 connected to the rotating column. The first gear 603 and the second gear 604 mesh. The rotating column 601 is rotatably connected to the base plate 502 through a bearing. The lower end of the rotating column 601 extends through the base plate and is connected to a first pneumatic gripper 605. The central axis of the first pneumatic gripper 605 is on the same vertical plane as the axis of the positioning block 701.

[0042] The first pneumatic gripper 605 is a three-jaw chuck. After gripping the rod 122 conveyed by the second conveying mechanism 4, the first pneumatic gripper 605 conveys it to the top of the positioning mechanism 7. The first motor 302 is controlled to work, and through the cooperation of the first gear 603 and the second gear 604, the rotating column 601 is driven to rotate, thereby driving the first pneumatic gripper 605 and the rod 122 on it to rotate, so as to screw the rod 122 onto the head 121 of the positioning mechanism 7.

[0043] like Figure 1 , Figure 9 , Figure 10 As shown, a positioning mechanism 7 for clamping the head 121 is provided on the base 1 below the clamping and twisting mechanism 6. The positioning mechanism 7 includes a positioning block 701, a clamping device mounted on the positioning block, and a rotating mechanism for driving the positioning block 701 to rotate. The top surface of the positioning block 701 is provided with a positioning groove, and the head is clamped in the positioning groove by the clamping device. The center of the positioning groove is provided with a through positioning hole 702. The central axis of the positioning block 702 and the central axis of the clamping and twisting mechanism 6 are on the same vertical plane in the X-axis direction, so that the clamping and twisting mechanism 6 can accurately deliver the gripped rod 121 above the head.

[0044] The clamping device includes third cylinders 703 mounted on both sides of the positioning block 701 and clamping blocks 704 connected to the opposite ends of the two third cylinders. The two clamping blocks 704 are arranged opposite each other in the positioning groove, and the opposite surfaces are provided with V-shaped grooves. When the connecting pipe of the head 121 is inserted into the positioning hole 702, the two third cylinders 703 are controlled to work simultaneously, so that the spherical surface of the head 121 can be clamped by the clamping blocks 704, so that the head 121 remains stable.

[0045] The rotating mechanism includes a connecting seat 705 mounted on the base and opposite one side of the bracket, a rotating shaft 706 fixedly connected to both sides of the positioning block, a second motor 707 connected to one side of the bracket, a third gear 708 connected to the motor shaft of the second motor, and a fourth gear 709 connected to one of the rotating shafts. The third gear 708 and the fourth gear 709 mesh. The two rotating shafts 706 are rotatably connected to the connecting seat 705 and its opposite bracket 2, respectively. The distance between the positioning block 701 and the base 1 is greater than the length of the positioning block 701. After inserting the connecting tube of the head 121 into the positioning hole 702 and clamping the head with the clamping device, the second motor 707 is controlled to work. Through the cooperation of the third gear 708 and the fourth gear 709, the rotating shaft 706 is driven to rotate, thereby causing the positioning block 121 to rotate 180 degrees, so that the connecting tube of the head 121 faces upwards, so as to mate with the rod 122.

[0046] The first conveying mechanism 3 is located on one side of the positioning mechanism 7 and is aligned with the positioning block 701. A movable gripping mechanism 8 is located on the base 1 above the first conveying mechanism 3. The gripping mechanism 8 grips the head 121 on the first conveying mechanism 3 and inserts it into the positioning hole 702 of the positioning groove. The second conveying mechanism 4 is located on the other side of the positioning mechanism 7. The second conveying mechanism 4 delivers the rod to one side of the positioning block 701 so that the clamping and twisting mechanism 6 can grip the rod 122.

[0047] like Figure 1 and Figure 7As shown, the gripping mechanism 8 includes a second guide rail 801, a fourth cylinder 802, a second slider 803, a support rod 804, an extension plate 805, a fifth cylinder 806, and a second pneumatic gripper 807. The second guide rail 801 is mounted on the base 1 and located on one side of the first conveyor frame 301. The bottom surface of the second slider 803 is provided with a second sliding groove, and it is slidably connected to the second guide rail 801 through the second sliding groove. The support rod 804 is connected to the second slider 803. The extension plate 805 is connected to the top of the support rod 804 and extends towards the positioning block 701. The fifth cylinder 806 is mounted on the top surface of the extension plate 805. The second pneumatic gripper 807 is connected to the telescopic end of the fifth cylinder 806 and is located directly above the first belt conveyor 302. The second pneumatic gripper 807 is also a three-jaw chuck.

[0048] The gripping mechanism 8 also includes a baffle 808 connected to the second guide rail 801 and close to one end of the positioning block. A third sensor is provided on the side of the baffle 808 facing the second slider to detect the distance between the second slider 803 and the baffle 808.

[0049] The working principle of the gripping mechanism 8 is as follows: the retraction of the fourth cylinder 802 drives the second slider 803 to move away from the positioning mechanism 7 on the second guide rail 801. The distance between the second slider 803 and the third sensor is sensed. When the distance reaches the set value, the second pneumatic gripper 807 reaches the first position sensor 306. Then, the fifth cylinder 806 is controlled to extend, and the second pneumatic gripper 807 grips the head. After the head is gripped, the fourth cylinder 802 is controlled to extend, causing the second slider 803 to move towards the positioning mechanism 7. At this time, the distance between the second slider 803 and the third sensor is sensed. When the distance reaches the set value, the second pneumatic gripper 807 is exactly above the positioning block 701. Then, the fifth cylinder 806 is controlled to extend, so that the connecting tube on the head 121 can be inserted into the positioning hole 702 of the positioning block.

[0050] A support mechanism 9 is provided on the base. The support mechanism 9 includes a sixth cylinder 901 mounted on the base 1 and located behind the bracket 2, and a support seat 902 connected to the telescopic end of the sixth cylinder. The support seat 902 is L-shaped, with one end located below the positioning block 701. The extension of the sixth cylinder 901 can drive the support seat 902 to reach below the positioning block 701. By controlling the extension of the sixth cylinder 901, the support seat 902 reaches below the positioning block 701, thereby supporting the positioning block 701 and preventing the positioning block from rotating when installing the rod and head.

[0051] A control cabinet 10 is provided on one side of the base 1. The control cabinet 10 contains a PLC controller and an interactive display screen 11 is installed on the control cabinet 10. The PLC controller contains a control system. The display screen 11, the first conveying mechanism 3, the second conveying mechanism 4, the multi-axis linkage mechanism 5, the clamping and twisting mechanism 6, the positioning mechanism 7, the gripping mechanism 8, and the support mechanism 9 are all electrically connected to the PLC controller.

[0052] The working principle of this invention is as follows: The head 121 is conveyed by the first conveyor mechanism 3. When the first sensor 306 detects the head, the first belt conveyor 302 stops working and the head 121 reaches the position to be grasped.

[0053] Then, the fourth cylinder 802 is controlled to retract, causing the second slider 803 to move away from the positioning block 701. During this process, the distance between the second slider 803 and the third sensor is sensed. When the set value is reached, the second pneumatic gripper 807 reaches the first position sensor 306. At this time, the second pneumatic gripper 807 is exactly above the head 121 to be gripped. Then, the fifth cylinder 806 is controlled to extend, and the second pneumatic gripper 807 grips the head.

[0054] After the head 121 is grasped, the fifth cylinder 806 is retracted to pull the head 121 out of the first conveying mechanism 3. Then the fourth cylinder 802 extends, causing the second slider 803 to move towards the positioning block 701. At this time, the distance between the second slider 803 and the third sensor is sensed. When the set value is reached, the second pneumatic gripper 807 is exactly above the positioning block 701. Then the fifth cylinder 806 is extended to insert the connecting tube on the head 121 into the positioning hole 702 of the positioning block 701.

[0055] Next, the head is clamped by the clamping device, and then the second motor 707 is controlled to work, driving the positioning block to rotate 180 degrees so that the connecting tube of the head 121 faces upward. The feeding of the head is completed.

[0056] The rod 122 is conveyed by the second conveying mechanism 4. When the second sensor 406 senses the rod, the second belt conveyor 402 stops working and the rod reaches the position to be grasped.

[0057] The first cylinder 505 is extended, causing the top plate 501 to move in the X-axis direction, positioning the first pneumatic gripper 605 above the rod 122 to be gripped. Then, the second cylinder 506 is extended, causing the first pneumatic gripper 605 to descend and grip the rod 122. Next, the second cylinder 506 retracts, pulling the rod from the second conveying mechanism 4. Then, the first cylinder 505 is retracted again, bringing the first pneumatic gripper 605 and the rod above it above the positioning block.

[0058] Then, control the sixth cylinder 901 to extend, so that the support 902 reaches below the positioning block 701 and supports it.

[0059] Next, the second cylinder 506 is extended, causing the rod 122 to descend and dock with the head 121. At the same time, the rotating mechanism is activated, causing the rod 122 to rotate, thereby screwing the rod 122 onto the head 121.

[0060] Once installation is complete, the clamping device is released, the second cylinder 506 retracts to remove the rod head 12 from the positioning block 7, and finally the rod head 12 can be removed manually.

[0061] Then, the next round of head 121 and pole 122 installation is completed to achieve continuous operation.

[0062] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0063] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic assembly device for alloy rod heads, comprising a base (1) on which a vertical support (2) is connected, characterized in that: The base (1) is provided with a first conveying mechanism (3) and a second conveying mechanism (4) on both sides of the support, which move relative to each other. The first conveying mechanism (3) is used to convey the head, and the second conveying mechanism (4) is used to convey the rod. The bracket (2) is equipped with a multi-axis linkage mechanism (5), and the output end of the multi-axis linkage mechanism (5) is equipped with a clamping and twisting mechanism (6). The clamping and twisting mechanism (6) is driven to move in the X-axis and Z-axis directions by the multi-axis linkage mechanism (5), and the clamping and twisting mechanism (6) grips and twists the rod part. The base (1) is provided with a positioning mechanism (7) for clamping head below the clamping and screwing mechanism (6). The positioning mechanism (7) includes a positioning block (701), a clamping device mounted on the positioning block, and a rotating mechanism for driving the positioning block (701) to rotate. The top surface of the positioning block (701) is provided with a positioning groove, and the head is clamped in the positioning groove by the clamping device. The center of the positioning groove is provided with a through positioning hole (702). The central axis of the positioning block (702) and the central axis of the clamping and screwing mechanism (6) are on the same vertical plane in the X-axis direction. The first conveying mechanism (3) is located on one side of the positioning mechanism (7), and the first conveying mechanism (3) is aligned with the positioning block (701). A movable gripping mechanism (8) is provided on the base (1) above the first conveying mechanism (3). The gripping mechanism (8) grips the head on the first conveying mechanism (3) and inserts the head into the positioning hole (702) of the positioning groove. The second conveying mechanism (4) delivers the rod to one side of the positioning block so that the clamping and twisting mechanism (6) can grasp it.

2. The automatic assembly device for alloy rod heads according to claim 1, characterized in that: The top of the bracket (2) is provided with a square first opening (201). The multi-axis linkage mechanism (5) includes a top plate (501), a bottom plate (502), a guide rod (503), a housing (504), a first cylinder (505), a second cylinder (506), a converter (507), and a connecting frame (508). The bottom surface of the upper part of the bracket (2) is provided with two first guide rails, which are located on the front and rear sides of the first opening (201) respectively. The top surface of the top plate (501) is connected to a first slider (509). The top surface of the first slider (509) is provided with a first groove, and it is slidably connected to the first guide rail through the first groove. There are four guide rods (503), which are fixed to the four corners of the base plate (502). The four corners of the top plate (501) are provided with guide holes. The guide rods (503) are slidably disposed in the corresponding guide holes. The upper ends of the four guide rods (503) are connected to the connecting frame (508). The first cylinder (505) is installed at the rear of the top surface of the bracket (2), and the telescopic end of the first cylinder (505) is connected to the adapter (507). The rear of the bracket (2) is provided with a square second opening (202). The adapter (507) extends downward and forward and enters through the second opening (202), and the entry end is connected to the top plate (501). The housing (54) is mounted on the base plate (502), the second cylinder (506) is mounted on the top plate (501), and the telescopic end of the second cylinder (506) is connected to the housing (504); the second cylinder (506) and the guide rod (503) are both located in the first opening (201).

3. The automatic assembly device for alloy rod heads according to claim 2, characterized in that: The first conveying mechanism (3) includes a first conveying frame (301), a first belt conveyor (302), a first partition (303), a first elastic belt (304), a first magnetic sheet (305), and a first sensor (306). The first belt conveyor (302) is installed inside the first conveyor frame (301), and the first partition (303) consists of several parts, which are fixed at equal intervals on the conveyor belt of the first belt conveyor (302); The first elastic belt (304) is fixed on the adjacent first partition (303), and the first elastic belt (304) maintains a gap with the conveyor belt of the first belt conveyor (302); The first elastic belt (304) has a first through hole (307) at its center. A plurality of first magnetic pieces (305) are fixed on the conveyor belt of the first belt conveyor (302). The first magnetic pieces (305) correspond one-to-one with the first through holes (307), and the first magnetic pieces (305) are aligned with the corresponding first through holes (307). A first sensor (306) is provided on the side of the first conveyor (301) facing the positioning mechanism (7) for sensing the head.

4. The automatic assembly device for alloy rod heads according to claim 3, characterized in that: The base (1) is provided with a downwardly extending mounting groove at its rear, and the second conveying mechanism (4) is installed in the mounting groove; The second conveying mechanism (4) includes a second conveying frame (401), a second belt conveyor (402), a second partition (403), a second elastic belt (404), a second magnetic sheet (405), and a second sensor (406). The second belt conveyor (402) is installed inside the second conveyor frame (401), and the second partition (403) consists of several parts, which are fixed at equal intervals on the conveyor belt of the second belt conveyor (402); The second elastic belt (404) is fixed to the adjacent second partition (403), and the second elastic belt (404) maintains a gap with the conveyor belt of the second belt conveyor (402); The second elastic belt (404) has a second through hole (407) at its center. The second belt conveyor (402) has a plurality of second magnetic pieces (405) fixed on its conveyor belt. The second magnetic pieces (405) correspond one-to-one with the second through holes (407), and the second magnetic pieces (405) are aligned with the corresponding second through holes (407). A second sensor (406) is provided on the side of the second conveyor (401) facing the positioning mechanism (7) for sensing the rod; the central axis of the second sensor (406) is aligned with the central axis of the positioning block (701).

5. The automatic assembly device for alloy rod heads according to claim 4, characterized in that: The clamping and twisting mechanism (6) includes a rotating column (601) rotatably connected to the housing (504), a first motor (602) disposed in the housing, a first gear (603) connected to the motor shaft of the first motor, and a second gear (604) connected to the rotating column. The first gear (603) meshes with the second gear (604). The rotating column (601) is rotatably connected to the base plate (502) through a bearing. The lower end of the rotating column (601) passes through the base plate and is connected to a first pneumatic gripper (605). The central axis of the first pneumatic gripper (605) is on the same vertical plane as the axis of the positioning block (701).

6. The automatic assembly device for alloy rod heads according to claim 5, characterized in that: The clamping device includes a third cylinder (703) installed on both sides of the positioning block (701) and a clamping block (704) connected to the opposite ends of the two third cylinders. The two clamping blocks (704) are arranged opposite each other in the positioning groove, and the opposite surfaces are provided with V-shaped grooves.

7. The automatic assembly device for alloy rod heads according to claim 6, characterized in that: The rotating mechanism includes a connecting seat (705) mounted on the base and opposite to one side of the bracket, a rotating shaft (706) fixedly connected to both sides of the positioning block, a second motor (707) connected to one side of the bracket, a third gear (708) connected to the motor shaft of the second motor, and a fourth gear (709) connected to one of the rotating shafts. The third gear (708) and the fourth gear (709) mesh. The two rotating shafts (706) are rotatably connected to the connecting seat (705) and its opposite bracket (2), respectively. The distance between the positioning block (701) and the base (1) is greater than the length of the positioning block (701).

8. The automatic assembly device for alloy rod heads according to claim 7, characterized in that: The gripping mechanism (8) includes a second guide rail (801), a fourth cylinder (802), a second slider (803), a support rod (804), an extension plate (805), a fifth cylinder (806), and a second pneumatic gripper (807). The second guide rail (801) is mounted on the base (1) and located on one side of the first conveyor frame (301). The bottom surface of the second slider (803) is provided with a second sliding groove, and it is slidably connected to the second guide rail (801) through the second sliding groove. The support rod (804) is connected to the second slider (803), the extension plate (805) is connected to the top of the support rod (804), and the extension plate (805) extends toward the positioning block (701). The fifth cylinder (806) is installed on the top surface of the extension plate (805). The second pneumatic gripper (807) is connected to the telescopic end of the fifth cylinder (806). The second pneumatic gripper (807) is located directly above the first belt conveyor (302). The gripping mechanism (8) also includes a baffle (808) connected to the second guide rail (801) and close to one end of the positioning block. A third sensor is provided on the side of the baffle (808) facing the second slider to detect the distance between the second slider (803) and the baffle (808).

9. The automatic assembly device for alloy rod heads according to claim 8, characterized in that: The base is provided with a support mechanism (9), which includes a sixth cylinder (901) installed on the base (1) and located on the rear side of the bracket (2), and a support seat (902) connected to the telescopic end of the sixth cylinder. The support seat (902) is L-shaped, with one end located on the side below the positioning block (701). The extension of the sixth cylinder (901) can drive the support seat (702) to reach below the positioning block (701).

10. An automatic assembly device for alloy rod heads according to claim 9, characterized in that: A control cabinet (10) is provided on one side of the base (1). A PLC controller is provided inside the control cabinet (10). An interactive display screen (11) is installed on the control cabinet (10). A control system is written in the PLC controller. The display screen (11), the first conveying mechanism (3), the second conveying mechanism (4), the multi-axis linkage mechanism (5), the clamping and twisting mechanism (6), the positioning mechanism (7), the gripping mechanism (8), and the support mechanism (9) are all electrically connected to the PLC controller.

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